Analysis and design of observers with quantization effects

In order to attenuate the performance degradation of the digital observer caused by quantization effects, the influence of the quantizer on state estimation error is analyzed and a new method of constructing the non-linear observer is proposed. The dynamic characteristics of Luenberger observer are analyzed while existing quantization effects, and the result shows that the asymptotic convergence of the estimation error can not be guaranteed. An upper bound of the estimation error is derived using Lyapunov stability criterion. A novel observer is proposed which can drive the tracking error to zero provided that the system matrix is Hurwitz.